SPARC：棱柱-转动复合柔性脊柱加速四足奔跑
原标题：SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding
技术动态AI 88
来源：arXiv cs.RO发布时间待核实
arXiv:2510.01984v4 Announce Type: replace Abstract: Quadruped mammals coordinate sagittal spinal bending with axial extension and compression during dynamic locomotion. Yet most robotic quadrupeds use rigid trunks, passively compliant spines with fixed properties, or actively controlled spines that track prescribed trajectories. Whether actively regulated spinal compliance can support faster dynamic locomotion remains unclear. We present SPARC, a compact 1.26-kg, 3-DoF sagittal-plane spine that …